CN113349929B - Spatial positioning system for locking holes in the distal end of intramedullary nails - Google Patents
Spatial positioning system for locking holes in the distal end of intramedullary nails Download PDFInfo
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- 239000013307 optical fiber Substances 0.000 claims abstract description 149
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- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
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- A61B17/68—Internal fixation devices, including fasteners and spinal fixators, even if a part thereof projects from the skin
- A61B17/72—Intramedullary devices, e.g. pins or nails
- A61B17/7233—Intramedullary devices, e.g. pins or nails with special means of locking the nail to the bone
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- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
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Abstract
本发明提供一种用于髓内钉远端锁定孔的空间定位系统及方法,该系统包括光纤、光纤传感解调仪、双目相机、导向器和髓内钉,其中:光纤,用于测量所述髓内钉在插入髓腔后的形变状态,光纤的第一端插入并固定到髓内钉的中空内芯中,且光纤的第一端临近于髓内钉的远端锁定孔,光纤的第二端连接光纤传感解调仪的输入端;光纤传感器解调仪,用于获取髓内钉插入髓腔后远端锁定孔在光纤全局坐标系中的目标位姿,光纤全局坐标系是基于髓内钉近端确定的;双目相机,用于将目标位姿和导向器位姿转换到双目相机坐标系,得到髓内钉插入髓腔后远端锁定孔与导向器的相对空间定位。本发明具有无电磁干扰,鲁棒性强的优点,更加精确定位髓内针远端锁定孔位置。
The present invention provides a spatial positioning system and method for a distal locking hole of an intramedullary nail. The system includes an optical fiber, an optical fiber sensing demodulator, a binocular camera, a guide and an intramedullary nail, wherein: the optical fiber is used for Measuring the deformation state of the intramedullary nail after being inserted into the medullary cavity, the first end of the optical fiber is inserted and fixed into the hollow inner core of the intramedullary nail, and the first end of the optical fiber is adjacent to the distal locking hole of the intramedullary nail, The second end of the optical fiber is connected to the input end of the optical fiber sensor demodulator; the optical fiber sensor demodulator is used to obtain the target pose of the distal locking hole in the optical fiber global coordinate system after the intramedullary nail is inserted into the medullary cavity, and the optical fiber global coordinate The system is determined based on the proximal end of the intramedullary nail; the binocular camera is used to convert the target pose and guide pose to the binocular camera coordinate system to obtain the relationship between the distal locking hole and the guide after the intramedullary nail is inserted into the medullary cavity. Relative spatial positioning. The invention has the advantages of no electromagnetic interference and strong robustness, and can more accurately locate the position of the locking hole at the distal end of the intramedullary needle.
Description
技术领域technical field
本发明涉及医疗器械技术领域,尤其涉及一种髓内钉远端锁定孔的空间定位系统及方法。The invention relates to the technical field of medical instruments, in particular to a space positioning system and method for a locking hole at the distal end of an intramedullary nail.
背景技术Background technique
现代髓内钉多为交锁髓内钉,也就是在髓内钉的两端,按照预设的多个方向拧入螺钉,使得螺钉穿过主钉上预留的钉孔形成稳定的固定结构。但髓内钉在插入髓腔后,由于和髓腔形态并不完全匹配会产生形变,导致髓内钉以不可预测的方式进行弯曲,从而很难确定主钉远端的多向交锁锁定孔位置。Modern intramedullary nails are mostly interlocking intramedullary nails, that is, at both ends of the intramedullary nail, screws are screwed in according to preset multiple directions, so that the screws pass through the reserved nail holes on the main nail to form a stable fixed structure . However, after the intramedullary nail is inserted into the medullary cavity, it will deform due to the incomplete match with the shape of the medullary cavity, causing the intramedullary nail to bend in an unpredictable way, making it difficult to determine the multi-directional interlocking locking hole at the distal end of the main nail Location.
当前常规的髓内钉锁定孔的定位方法,主要是利用X射线直接透视成像,或利用电磁/永磁体等方式,追踪定位髓内钉远端的多向交锁锁定孔位置。但是,基于X射线的透视导航,存在对于医护人员和患者辐射量大的问题;而现有电磁导航存在导航设备中最重要的场发生器需要直接接触患者,术前设置繁琐和需要严格消毒等缺陷。如何在提高髓内钉远端锁定成功率基础上,简化手术操作和设备设置,降低手术成本和射线辐射非常具有现实意义。The current conventional methods for positioning the locking hole of the intramedullary nail mainly use X-ray direct fluoroscopic imaging, or use electromagnetic/permanent magnets to track and locate the position of the multi-directional interlocking locking hole at the distal end of the intramedullary nail. However, X-ray-based fluoroscopy navigation has the problem of high radiation dose to medical staff and patients; while the most important field generator in the existing electromagnetic navigation navigation equipment needs to directly contact the patient, the preoperative setting is cumbersome and strict disinfection is required. defect. How to improve the success rate of locking the distal end of the intramedullary nail, simplify the operation and equipment settings, and reduce the operation cost and radiation radiation is of great practical significance.
因此,现在亟需一种用于髓内钉远端锁定孔的空间定位系统及方法来解决上述问题。Therefore, there is an urgent need for a spatial positioning system and method for the locking hole at the distal end of the intramedullary nail to solve the above problems.
发明内容Contents of the invention
针对现有技术存在的问题,本发明提供一种用于髓内钉远端锁定孔的空间定位系统及方法。Aiming at the problems existing in the prior art, the present invention provides a space positioning system and method for the locking hole at the distal end of the intramedullary nail.
本发明提供一种用于髓内钉远端锁定孔的空间定位系统,包括光纤、光纤传感解调仪、双目相机、导向器和髓内钉,其中:The present invention provides a space positioning system for the locking hole of the distal end of the intramedullary nail, including an optical fiber, an optical fiber sensor demodulator, a binocular camera, a guide and an intramedullary nail, wherein:
所述光纤,用于测量所述髓内钉在插入髓腔后的形变状态,所述光纤的第一端插入并固定到所述髓内钉的中空内芯中,且所述光纤的第一端临近于所述髓内钉的远端锁定孔,所述光纤的第二端连接所述光纤传感解调仪的输入端;The optical fiber is used to measure the deformation state of the intramedullary nail after being inserted into the medullary cavity, the first end of the optical fiber is inserted and fixed into the hollow inner core of the intramedullary nail, and the first end of the optical fiber The end is close to the distal locking hole of the intramedullary nail, and the second end of the optical fiber is connected to the input end of the optical fiber sensor demodulator;
所述光纤传感器解调仪,用于获取所述髓内钉插入髓腔后的远端锁定孔在光纤全局坐标系中的目标位姿,所述光纤全局坐标系是基于所述髓内钉的近端确定的;The optical fiber sensor demodulator is used to obtain the target pose of the distal locking hole of the intramedullary nail inserted into the medullary cavity in the optical fiber global coordinate system, and the optical fiber global coordinate system is based on the intramedullary nail proximally determined;
所述双目相机的拍摄范围内设置有第一光学标记物和第二光学标记物,用于将所述目标位姿和导向器位姿转换到双目相机坐标系,得到所述髓内钉插入髓腔后远端锁定孔与所述导向器的相对空间定位,所述第一光学标记物设置在所述髓内钉的近端处,所述第二光学标记物设置在所述导向器的表面;所述导向器位姿是通过所述双目相机对所述第二光学标记物进行跟踪得到的;A first optical marker and a second optical marker are set within the shooting range of the binocular camera for converting the target pose and guide pose into the binocular camera coordinate system to obtain the intramedullary nail The relative spatial positioning of the distal locking hole and the guide after being inserted into the medullary cavity, the first optical marker is set at the proximal end of the intramedullary nail, and the second optical marker is set at the guide surface; the pose of the guide is obtained by tracking the second optical marker through the binocular camera;
其中,所述光纤中刻有多个光栅,所述光纤和所述髓内钉处于同一中心轴上。Wherein, a plurality of gratings are engraved in the optical fiber, and the optical fiber and the intramedullary nail are on the same central axis.
根据本发明提供的一种用于髓内钉远端锁定孔的空间定位系统,所述髓内钉的中空内芯中设置导管,所述光纤通过所述导管插入并固定到所述髓内钉的中空内芯,所述光纤、所述髓内钉和所述导管处于同一中心轴上。According to a spatial positioning system for the locking hole at the distal end of an intramedullary nail provided by the present invention, a catheter is arranged in the hollow inner core of the intramedullary nail, and the optical fiber is inserted through the catheter and fixed to the intramedullary nail The hollow inner core of the optical fiber, the intramedullary nail and the catheter are on the same central axis.
根据本发明提供的一种用于髓内钉远端锁定孔的空间定位系统,所述导管的近端设置有刻度尺。According to the spatial positioning system for the locking hole at the distal end of the intramedullary nail provided by the present invention, the proximal end of the catheter is provided with a scale.
根据本发明提供的一种用于髓内钉远端锁定孔的空间定位系统,所述导管的近端和所述髓内钉的近端通过固定连接件进行固定连接。According to the space positioning system for the locking hole of the distal end of the intramedullary nail provided by the present invention, the proximal end of the catheter and the proximal end of the intramedullary nail are fixedly connected through a fixed connecting piece.
根据本发明提供的一种用于髓内钉远端锁定孔的空间定位系统,所述固定连接件上设置有松紧旋钮。According to the space positioning system for the locking hole at the distal end of the intramedullary nail provided by the present invention, the fixing connecting part is provided with an elastic knob.
根据本发明提供的一种用于髓内钉远端锁定孔的空间定位系统,所述系统还包括显示器,所述双目相机和所述显示器进行通信连接。According to the spatial positioning system for the locking hole at the distal end of the intramedullary nail provided by the present invention, the system further includes a display, and the binocular camera is connected to the display in communication.
本发明还提供一种基于上述任一所述用于髓内钉远端锁定孔的空间定位系统的空间定位方法,包括:The present invention also provides a spatial positioning method based on any of the above-mentioned spatial positioning systems for the locking hole at the distal end of the intramedullary nail, including:
在髓内钉插入髓腔之前,获取所述髓内钉的远端锁定孔在光纤全局坐标系中的初始位置,所述光纤全局坐标系是基于所述髓内钉的近端确定的;Before the intramedullary nail is inserted into the medullary cavity, the initial position of the distal locking hole of the intramedullary nail in the optical fiber global coordinate system is obtained, and the optical fiber global coordinate system is determined based on the proximal end of the intramedullary nail;
在所述髓内钉插入髓腔之后,通过光纤传感解调仪获取所述髓内钉内光纤的弯曲信息,并根据所述弯曲信息得到所述远端锁定孔的运动矩阵;After the intramedullary nail is inserted into the medullary cavity, the bending information of the optical fiber in the intramedullary nail is obtained through an optical fiber sensor demodulator, and the motion matrix of the distal locking hole is obtained according to the bending information;
根据所述初始位置和所述运动矩阵,获取所述髓内钉插入髓腔后的远端锁定孔在所述光纤全局坐标系中的目标位姿;According to the initial position and the motion matrix, obtain the target pose of the distal locking hole after the intramedullary nail is inserted into the medullary cavity in the optical fiber global coordinate system;
基于双目相机,通过第一光学标记物和第二光学标记物,将所述目标位姿和导向器位姿转换到双目相机坐标系,得到所述髓内钉插入髓腔后远端锁定孔与导向器的相对空间定位;所述导向器位姿是通过所述双目相机对所述第二光学标记物进行跟踪得到的,所述第一光学标记物设置在所述髓内钉的近端处,所述第二光学标记物设置在所述导向器的表面。Based on the binocular camera, through the first optical marker and the second optical marker, the target pose and the guide pose are converted to the binocular camera coordinate system, and the distal end of the intramedullary nail is locked after being inserted into the medullary cavity The relative spatial positioning of the hole and the guide; the pose of the guide is obtained by tracking the second optical marker through the binocular camera, and the first optical marker is set on the intramedullary nail Proximally, the second optical marker is disposed on a surface of the guide.
根据本发明提供的一种用于髓内钉远端锁定孔的空间定位方法,所述在所述髓内钉插入髓腔之后,通过光纤传感解调仪获取所述髓内钉内光纤的弯曲信息,并根据所述弯曲信息得到所述远端锁定孔的运动矩阵,包括:According to a spatial positioning method for the locking hole at the distal end of the intramedullary nail provided by the present invention, after the intramedullary nail is inserted into the medullary cavity, the optical fiber sensor and demodulator of the intramedullary nail is used to obtain the position of the optical fiber in the intramedullary nail. Bending information, and obtaining the motion matrix of the distal locking hole according to the bending information, including:
通过光纤传感解调仪,获取光纤中各个光栅节点的弯曲曲率和波长改变量;Obtain the bending curvature and wavelength change of each grating node in the optical fiber through the optical fiber sensor demodulator;
根据所述波长改变量和所述弯曲曲率,得到各个光栅节点的曲率半径;Obtaining the curvature radius of each grating node according to the wavelength change amount and the bending curvature;
根据各个光栅节点的曲率半径和分布位置进行拟合,得到所述远端锁定孔的运动矩阵。Fitting is performed according to the curvature radius and distribution position of each grating node to obtain the motion matrix of the distal locking hole.
本发明还提供一种电子设备,包括存储器、处理器及存储在存储器上并可在处理器上运行的计算机程序,所述处理器执行所述程序时实现如上述任一种所述用于髓内钉远端锁定孔的空间定位方法的步骤。The present invention also provides an electronic device, including a memory, a processor, and a computer program stored on the memory and operable on the processor. The steps of the spatial positioning method of the locking hole at the distal end of the inner nail.
本发明还提供一种非暂态计算机可读存储介质,其上存储有计算机程序,该计算机程序被处理器执行时实现如上述任一种所述用于髓内钉远端锁定孔的空间定位方法的步骤。The present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the spatial positioning of the locking hole at the distal end of the intramedullary nail can be realized as described in any one of the above. method steps.
本发明提供的用于髓内钉远端锁定孔的空间定位系统及方法,相比现有技术,具有无电磁干扰,鲁棒性强的优点,可更加精确的定位髓内针远端锁定孔位置。The space positioning system and method for the locking hole at the distal end of the intramedullary nail provided by the present invention, compared with the prior art, has the advantages of no electromagnetic interference and strong robustness, and can more accurately locate the locking hole at the distal end of the intramedullary nail Location.
附图说明Description of drawings
为了更清楚地说明本发明或现有技术中的技术方案,下面将对实施例或现有技术描述中所需要使用的附图作一简单地介绍,显而易见地,下面描述中的附图是本发明的一些实施例,对于本领域普通技术人员来讲,在不付出创造性劳动的前提下,还可以根据这些附图获得其他的附图。In order to more clearly illustrate the present invention or the technical solutions in the prior art, the accompanying drawings that need to be used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the accompanying drawings in the following description are the present invention. For some embodiments of the invention, those skilled in the art can also obtain other drawings based on these drawings without creative effort.
图1为本发明提供的用于髓内钉远端锁定孔的空间定位系统的结构示意图;FIG. 1 is a schematic structural view of a spatial positioning system for locking holes at the distal end of an intramedullary nail provided by the present invention;
图2为本发明提供的用于髓内钉远端锁定孔的空间定位方法的流程示意图;Fig. 2 is a schematic flowchart of the spatial positioning method for the locking hole at the distal end of the intramedullary nail provided by the present invention;
图3为本发明提供的电子设备的结构示意图。Fig. 3 is a schematic structural diagram of an electronic device provided by the present invention.
具体实施方式Detailed ways
为使本发明的目的、技术方案和优点更加清楚,下面将结合本发明中的附图,对本发明中的技术方案进行清楚、完整地描述,显然,所描述的实施例是本发明一部分实施例,而不是全部的实施例。基于本发明中的实施例,本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例,都属于本发明保护的范围。In order to make the purpose, technical solutions and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the present invention. Obviously, the described embodiments are part of the embodiments of the present invention , but not all examples. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.
现有髓内钉远端锁定孔的定位方案主要包括以下几种:一、X射线透视成像,该方法可直接透视观察到髓内钉远端锁定孔位置,是临床中最常见手段,但是,X射线透视成像对医患辐射量大,会造成手术流程中断,同时对医生的操作技能要求高;二、电磁/永磁体定位,该方法将电磁传感器或永磁体传感器固定在髓内钉远端锁定孔附近,不受髓内钉形变影响,通过电磁场检测电磁传感器/永磁体传感器位置,即可精确定位多向交锁锁定孔位置,然而,电磁/永磁体定位容易受到周围铁磁性材料的干扰,需要电磁兼容的髓内钉,钻头等相关配件,工作环境苛刻,成本高;三、机械定位,该方案采用体外长的框架结构,与髓内钉近端相连,通过相应长度的孔位定位远端多向交锁锁定孔,由于不可预测的形变,该方法往往造成锁定的困难,即使部分产品采用了额外钻孔,通过压杆探测髓内钉远端位置而调节框架结构,仍然失败率高,而做出调整设计的方案,也需要对患者做额外的切口,并在骨上钻额外的孔,造成了额外的伤害。The existing positioning schemes for the locking hole at the distal end of the intramedullary nail mainly include the following: 1. X-ray fluoroscopy imaging. This method can directly observe the position of the locking hole at the distal end of the intramedullary nail through perspective, which is the most common method in clinical practice. However, X-ray fluoroscopy imaging has a large amount of radiation to doctors and patients, which will cause interruption of the operation process, and requires high operating skills of doctors; 2. Electromagnetic/permanent magnet positioning, this method fixes the electromagnetic sensor or permanent magnet sensor on the distal end of the intramedullary nail Near the locking hole, it is not affected by the deformation of the intramedullary nail. The position of the multi-directional interlocking locking hole can be precisely positioned by detecting the position of the electromagnetic sensor/permanent magnet sensor through the electromagnetic field. However, the positioning of the electromagnetic/permanent magnet is easily interfered by the surrounding ferromagnetic materials , requires electromagnetic compatible intramedullary nails, drill bits and other related accessories, the working environment is harsh, and the cost is high; 3. Mechanical positioning. The multi-directional interlocking locking hole at the distal end, due to unpredictable deformation, this method often causes difficulty in locking. Even if some products use additional drilling, the frame structure is adjusted by detecting the distal position of the intramedullary nail through the pressure rod, and the failure rate is still high. High, and the plan to adjust the design also needs to make additional incisions on the patient and drill additional holes in the bone, causing additional injuries.
本发明可以将光纤传感器部分置入中空的髓内钉内芯中,使之停留在髓内钉远端的预设位置,进而精确确定在光纤传感器远端延伸处多向交锁的锁定孔位置。需要说明的是,本发明中提及的远端为光纤或髓内钉进入到髓腔内部的一端;近端为光纤或髓内钉停留在髓腔外部的一端。In the present invention, the optical fiber sensor can be partially inserted into the inner core of the hollow intramedullary nail, so that it stays at the preset position of the distal end of the intramedullary nail, and then the position of the multi-directional interlocking locking hole at the extension of the distal end of the optical fiber sensor can be accurately determined . It should be noted that the distal end mentioned in the present invention refers to the end where the optical fiber or the intramedullary nail enters the medullary cavity; the proximal end refers to the end where the optical fiber or the intramedullary nail stays outside the medullary cavity.
图1为本发明提供的用于髓内钉远端锁定孔的空间定位系统的结构示意图,如图1所示,本发明提供了一种用于髓内钉远端锁定孔的空间定位系统,包括光纤101、光纤传感解调仪102、双目相机103 导向器104和髓内钉105,其中:Fig. 1 is a structural schematic diagram of the spatial positioning system for the locking hole at the distal end of the intramedullary nail provided by the present invention. As shown in Fig. 1, the present invention provides a spatial positioning system for the locking hole at the distal end of the intramedullary nail, Including
所述光纤101,用于测量所述髓内钉105在插入髓腔后的形变状态,所述光纤101的第一端插入并固定到所述髓内钉105的中空内芯中,且所述光纤101的第一端临近于所述髓内钉105的远端锁定孔 106,所述光纤101的第二端连接所述光纤传感解调仪102的输入端。The
在本发明中,在髓内钉插入髓腔之前,光纤101的第一端预先固定设置在髓内钉的中空内芯中,可选地,所述髓内钉105的中空内芯中设置导管109,所述光纤101通过所述导管109插入并固定到所述髓内钉105的中空内芯,所述光纤101、所述髓内钉105和所述导管109处于同一中心轴上,使得光纤101的第一端通过导管109固定在髓内钉105中。In the present invention, before the intramedullary nail is inserted into the medullary cavity, the first end of the
所述光纤传感器解调仪102的输出端和所述双目相机103进行通信连接,用于获取所述髓内钉105插入髓腔后的远端锁定孔106在光纤全局坐标系中的目标位姿,所述光纤全局坐标系是基于所述髓内钉 105的近端确定的。The output end of the optical
在本发明中,基于光纤101随髓内钉105在髓腔内的弯曲信息,通过光纤传感解调仪102,获得髓内钉105的远端锁定孔106在光纤全局坐标系中的目标位姿。In the present invention, based on the bending information of the
所述双目相机103的拍摄范围内设置有第一光学标记物107和第二光学标记物108,用于将所述目标位姿和导向器位姿转换到双目相机坐标系,得到所述髓内钉105插入髓腔后远端锁定孔106与所述导向器104的相对空间定位,所述第一光学标记物107设置在所述髓内钉105的近端处,所述第二光学标记物108设置在所述导向器104的表面;所述导向器位姿是通过所述双目相机103对所述第二光学标记物108进行跟踪得到的;A first
其中,所述光纤101中刻有多个光栅,所述光纤101和所述髓内钉105处于同一中心轴上。Wherein, the
在本发明中,双目相机103通过标定,获得光纤全局坐标系与第一光学标记物坐标系之间的转换矩阵;另外,可参考图1所示,设置第二光学标记物与导向器104表面固定连接,即可通过标定获得导向器104在第二光学标记物坐标系中的位姿。在髓内钉105插入髓腔后,通过双目相机103实时跟踪第一光学标记物和第二光学标记物,即可将髓内钉105远端锁定孔106的位姿和导向器104的位姿实时转换到双目相机坐标系中,从而实时导航髓内钉105远端锁定孔106的锁定。In the present invention, the
本发明提供的用于髓内钉远端锁定孔的空间定位系统,相比现有技术,具有无电磁干扰,鲁棒性强的优点,可更加精确的定位髓内针远端锁定孔位置。Compared with the prior art, the spatial positioning system for the locking hole at the distal end of the intramedullary nail provided by the present invention has the advantages of no electromagnetic interference and strong robustness, and can more accurately locate the locking hole at the distal end of the intramedullary nail.
在一实施例中,可参考图1所示,刻有多个光栅传感器的光纤 101集成在导管109中,然后插入到髓内钉105中空内芯中,可选地,所述导管109的近端和所述髓内钉105的近端通过固定连接件110进行固定连接,通过固定连接件110使光纤101与髓内钉105相对固定。需要说明的是,导管109用于容纳刻有多个光栅传感器的光纤101,其外直径与髓内钉105中空内芯匹配(即导管109外直径尽量接近髓内钉105中空内芯的直径,且导管109外直径小于中空内芯的直径)。In one embodiment, as shown in FIG. 1 , an
进一步地,导管109插入髓内钉105中空内芯,放置到髓内钉 105内,将远端多向交锁中任一锁定孔作为参照锁定孔,使得该参照锁定孔和导管109远端保持预设距离。其中,导管109和内置的光纤 101随髓内钉105的形状改变而改变,以使导管109、光纤101和髓内钉105的中心轴保持一致。在本发明中,导管109的远端封闭,近端截面为非标准形状,可选地,所述导管109的近端设置有刻度尺,具体地,在一实施例中,刻度尺上刻有长度为10cm的标记,且分辨率为10mm,可以标识并调节导管109插入髓内钉105的深度,用于在不同长度的髓内钉内,保证导管远端停留的位置在不同长度的髓内钉相同(即保持参照锁定孔和导管远端之间相同的预设距离),进而通过计算出的光纤形状,推算出髓内钉远端多向交锁锁定孔位置。在本发明中,固定连接件110用于在髓内钉105近端固定连接导管109 和髓内钉105,可选地,所述固定连接件110上设置有松紧旋钮,通过调节旋钮松紧控制,可将导管109在插入到髓内钉105指定长度后紧固。Further, the
在双目相机103的拍摄范围内,设置有第一光学标记物和第二光学标记物,其中,光纤全局坐标系位于髓内钉105近端;在髓内钉105进入髓腔前,双目相机103通过标定第一光学标记物,获取髓内钉105远端锁定孔106在光纤全局坐标系中的初始位置因为髓内钉105插入狭窄的骨骼内时,髓内钉105以及内部的光纤 101会产生弯曲,所以远端锁定孔106会偏离原来的初始位置。通过光纤传感,精确测量远端锁定孔106在其横截面平面内的运动矩阵 TDeform,即可获得髓内钉105弯曲后的远端锁定孔106在光纤全局坐标系中的位置 Within the shooting range of the
需要说明的是,第一光学标记物107固定在固定连接件107上(若为无固定连接件107的情况,则第一光学标记物107直接固定在髓内钉105近端处),与光纤全局坐标系保持相对固定,通过标定可从光纤全局坐标系到第一光学标记物坐标系的转换矩阵第二光学标记物与导向器104固定,通过双目相机103实时获得导向器104 的跟踪位置和方向,通过标定可获得导向器坐标系至第二光纤标记物的转换矩阵 It should be noted that the first
因此,通过公式一将髓内钉远端锁定孔位置转换到双目相机坐标系中:Therefore, the position of the locking hole at the distal end of the intramedullary nail is transformed into the binocular camera coordinate system by formula 1:
通过公式二将导向器尖端的位置转换到双目相机坐标系中:Transform the position of the guide tip into the binocular camera coordinate system by formula 2:
根据实时计算的髓内钉远端锁定孔与导向器尖端的相对位姿变化并显示在显示器111中,即可实时导航髓内钉远端锁定孔的锁定,其中,所述双目相机103和所述显示器111进行通信连接。According to the real-time calculation of the relative posture change between the locking hole at the distal end of the intramedullary nail and the guide tip and displaying it on the
本发明的将光纤光栅传感器置入髓内钉的中空内芯中,在进行髓内钉远端锁定孔定位时,不受电磁环境干扰,鲁棒性强,且因为不含电,安全性大大提高,减少手术的辐射量和手术时间。The fiber grating sensor of the present invention is placed in the hollow inner core of the intramedullary nail. When positioning the locking hole at the distal end of the intramedullary nail, it will not be disturbed by the electromagnetic environment, and has strong robustness, and because it does not contain electricity, the safety is greatly improved. Improve and reduce the radiation dose and operation time of the operation.
图2为本发明提供的用于髓内钉远端锁定孔的空间定位方法的流程示意图,如图2所示,本发明提供了一种基于上述实施例的用于髓内钉远端锁定孔的空间定位系统的空间定位方法,包括:Fig. 2 is a schematic flowchart of the spatial positioning method for the locking hole at the distal end of the intramedullary nail provided by the present invention. As shown in Fig. 2, the present invention provides a locking hole for the distal end of the intramedullary nail based on the above embodiment The spatial positioning method of the spatial positioning system, including:
步骤201,在髓内钉插入髓腔之前,获取所述髓内钉的远端锁定孔在光纤全局坐标系中的初始位置,所述光纤全局坐标系是基于所述髓内钉的近端确定的。
在本发明中,在髓内钉进入髓腔前,双目相机通过标定第一光学标记物,获取髓内钉远端锁定孔在光纤全局坐标系中的初始位置 In the present invention, before the intramedullary nail enters the medullary cavity, the binocular camera obtains the initial position of the locking hole at the distal end of the intramedullary nail in the optical fiber global coordinate system by calibrating the first optical marker
步骤202,在所述髓内钉插入髓腔之后,通过光纤传感解调仪获取所述髓内钉内光纤的弯曲信息,并根据所述弯曲信息得到所述远端锁定孔的运动矩阵;
步骤203,根据所述初始位置和所述运动矩阵,获取所述髓内钉插入髓腔后的远端锁定孔在所述光纤全局坐标系中的目标位姿。
在本发明中,当髓内钉插入狭窄的骨骼内后,髓内钉以及内部的光纤会产生弯曲,导致远端锁定孔会偏离原来的初始位置。通过光纤传感,精确测量远端锁定孔在其横截面平面内的运动矩阵TDeform,即可获得髓内钉弯曲后的远端锁定孔在光纤全局坐标系中的位置 In the present invention, when the intramedullary nail is inserted into the narrow bone, the intramedullary nail and the inner optical fiber will bend, causing the distal locking hole to deviate from the original initial position. Through optical fiber sensing, the motion matrix T Deform of the distal locking hole in its cross-sectional plane can be accurately measured to obtain the position of the distal locking hole in the optical fiber global coordinate system after the intramedullary nail is bent
步骤204,基于双目相机,通过第一光学标记物和第二光学标记物,将所述目标位姿和导向器位姿转换到双目相机坐标系,得到所述髓内钉插入髓腔后远端锁定孔与导向器的相对空间定位;所述导向器位姿是通过所述双目相机对所述第二光学标记物进行跟踪得到的,所述第一光学标记物设置在所述髓内钉的近端处,所述第二光学标记物设置在所述导向器的表面。
在本发明中,第一光学标记物固定在髓内钉近端处,与光纤全局坐标系保持相对固定,通过标定可获得从光纤全局坐标系到第一光学标记物坐标系的转换矩阵第二光学标记物与导向器固定,通过双目相机实时获得导向器的跟踪位置和方向,标定可获得导向器坐标系至第二光纤标记物的转换矩阵进一步,根据上述转换矩阵,将目标位姿和导向器位姿转换到双目相机坐标系,通过公式一将髓内钉远端锁定孔位置转换到双目相机坐标系中:In the present invention, the first optical marker is fixed at the proximal end of the intramedullary nail and remains relatively fixed with the optical fiber global coordinate system, and the conversion matrix from the optical fiber global coordinate system to the first optical marker coordinate system can be obtained through calibration The second optical marker is fixed with the guide, and the tracking position and direction of the guide can be obtained in real time through the binocular camera, and the conversion matrix from the coordinate system of the guide to the second optical fiber marker can be obtained through calibration Further, according to the above transformation matrix, the target pose and the guide pose are transformed into the binocular camera coordinate system, and the position of the locking hole at the distal end of the intramedullary nail is transformed into the binocular camera coordinate system by formula 1:
通过公式二将导向器尖端的位置转换到双目相机坐标系中:Transform the position of the guide tip into the binocular camera coordinate system by formula 2:
即可将髓内钉远端锁定孔的位姿和导向器的位姿实时转换到双目相机坐标系中,实时导航髓内钉远端锁定孔的锁定。The pose of the locking hole at the distal end of the intramedullary nail and the pose of the guide can be transformed into the binocular camera coordinate system in real time, and the locking of the locking hole at the distal end of the intramedullary nail can be navigated in real time.
本发明提供的用于髓内钉远端锁定孔的空间定位方法,相比现有技术,具有无电磁干扰,鲁棒性强的优点,可更加精确的定位髓内针远端锁定孔位置。Compared with the prior art, the spatial positioning method for the locking hole at the distal end of the intramedullary nail provided by the present invention has the advantages of no electromagnetic interference and strong robustness, and can more accurately locate the locking hole at the distal end of the intramedullary nail.
在上述实施例的基础上,所述在所述髓内钉插入髓腔之后,通过光纤传感解调仪获取所述髓内钉内光纤的弯曲信息,并根据所述弯曲信息得到所述远端锁定孔的运动矩阵,包括:On the basis of the above embodiment, after the intramedullary nail is inserted into the medullary cavity, the bending information of the optical fiber in the intramedullary nail is obtained through the optical fiber sensor demodulator, and the distance is obtained according to the bending information. Kinematic matrix for end-lock holes, including:
S1,通过光纤传感解调仪,获取光纤中各个光栅节点的弯曲曲率和波长改变量。S1. Obtain the bending curvature and wavelength change of each grating node in the optical fiber through the optical fiber sensor demodulator.
在本发明中,针对每个光栅传感器,光纤传感解调仪先测量出无弯曲时光纤的波长作为基底;然后,利用多个曲率已知的校准件,对光栅传感器的波长改变量与弯曲曲率的关系进行拟合和标定,测量出光栅传感器的弯曲曲率K与波长改变量Δλ之间的关系:In the present invention, for each grating sensor, the optical fiber sensor demodulator first measures the wavelength of the optical fiber without bending as the base; The relationship between the curvature is fitted and calibrated, and the relationship between the bending curvature K of the grating sensor and the wavelength change Δλ is measured:
K=A·Δλ;K=A·Δλ;
其中,A为标定好的系数。Among them, A is the calibrated coefficient.
S2,根据所述波长改变量和所述弯曲曲率,得到各个光栅节点的曲率半径;S2. Obtain the curvature radius of each grating node according to the wavelength change amount and the bending curvature;
S3,根据各个光栅节点的曲率半径和分布位置进行拟合,得到所述远端锁定孔的运动矩阵。S3, performing fitting according to the curvature radius and distribution position of each grating node, to obtain a motion matrix of the distal locking hole.
在本发明中,光纤中多个光栅传感器成等距离分布,利用上述弯曲曲率K与波长改变量Δλ之间的关系,可以推算出各个光栅节点处的曲率半径,进而恢复出光纤随髓内钉弯曲时对应的弯曲形状。利用各个光栅节点的位置分布和曲率半径进行拟合,即可在空间中恢复出整条光纤在二维平面中的形状。In the present invention, a plurality of grating sensors in the optical fiber are distributed equidistantly. Using the above-mentioned relationship between the bending curvature K and the wavelength change amount Δλ, the curvature radius at each grating node can be calculated, and then the optical fiber can be recovered with the intramedullary nail. The corresponding curved shape when bent. The shape of the entire optical fiber in a two-dimensional plane can be restored in space by using the position distribution and curvature radius of each grating node to perform fitting.
在光纤插入到髓内钉内芯后,定义光纤全局坐标系位于髓内钉的近端,髓内钉的远端锁定孔的位置随光纤远端一起运动,因为髓内钉在插入狭窄的骨骼内时会产生弯曲,远端锁定孔会偏离原来的位置。为实现远端锁定孔的准确的空间定位,需要精确测量远端锁定孔的空间运动。在通常情况下,髓内钉在插入髓腔内的弯曲是单方向的,所以可以通过光纤在二维平面中的形状传感,实时测量出髓内钉远端锁定孔在光纤全局坐标系中的位置。After the optical fiber is inserted into the inner core of the intramedullary nail, the global coordinate system of the defined optical fiber is located at the proximal end of the intramedullary nail. When it is inserted, it will bend, and the distal locking hole will deviate from the original position. In order to realize the accurate spatial positioning of the distal locking hole, it is necessary to accurately measure the spatial movement of the distal locking hole. Under normal circumstances, the bending of the intramedullary nail when inserted into the medullary cavity is unidirectional, so the shape sensing of the optical fiber in the two-dimensional plane can be used to measure the locking hole at the distal end of the intramedullary nail in the global coordinate system of the optical fiber in real time. s position.
图3为本发明提供的电子设备的结构示意图,如图3所示,该电子设备可以包括:处理器(processor)301、通信接口(Communications Interface)302、存储器(memory)303和通信总线304,其中,处理器301,通信接口302,存储器303通过通信总线304完成相互间的通信。处理器301可以调用存储器303中的逻辑指令,以执行用于髓内钉远端锁定孔的空间定位方法,该方法包括:在髓内钉插入髓腔之前,获取所述髓内钉的远端锁定孔在光纤全局坐标系中的初始位置,所述光纤全局坐标系是基于所述髓内钉的近端确定的;在所述髓内钉插入髓腔之后,通过光纤传感解调仪获取所述髓内钉内光纤的弯曲信息,并根据所述弯曲信息得到所述远端锁定孔的运动矩阵;根据所述初始位置和所述运动矩阵,获取所述髓内钉插入髓腔后的远端锁定孔在所述光纤全局坐标系中的目标位姿;基于双目相机,通过第一光学标记物和第二光学标记物,将所述目标位姿和导向器位姿转换到双目相机坐标系,得到所述髓内钉插入髓腔后远端锁定孔与导向器的相对空间定位;所述导向器位姿是通过所述双目相机对所述第二光学标记物进行跟踪得到的,所述第一光学标记物设置在所述髓内钉的近端处,所述第二光学标记物设置在所述导向器的表面。FIG. 3 is a schematic structural diagram of an electronic device provided by the present invention. As shown in FIG. 3 , the electronic device may include: a processor (processor) 301, a communication interface (Communications Interface) 302, a memory (memory) 303 and a
此外,上述的存储器303中的逻辑指令可以通过软件功能单元的形式实现并作为独立的产品销售或使用时,可以存储在一个计算机可读取存储介质中。基于这样的理解,本发明的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的部分可以以软件产品的形式体现出来,该计算机软件产品存储在一个存储介质中,包括若干指令用以使得一台计算机设备(可以是个人计算机,服务器,或者网络设备等)执行本发明各个实施例所述方法的全部或部分步骤。而前述的存储介质包括:U盘、移动硬盘、只读存储器(ROM,Read-Only Memory)、随机存取存储器(RAM,Random Access Memory)、磁碟或者光盘等各种可以存储程序代码的介质。In addition, the above logic instructions in the
另一方面,本发明还提供一种计算机程序产品,所述计算机程序产品包括存储在非暂态计算机可读存储介质上的计算机程序,所述计算机程序包括程序指令,当所述程序指令被计算机执行时,计算机能够执行上述各方法所提供的用于髓内钉远端锁定孔的空间定位方法,该方法包括:在髓内钉插入髓腔之前,获取所述髓内钉的远端锁定孔在光纤全局坐标系中的初始位置,所述光纤全局坐标系是基于所述髓内钉的近端确定的;在所述髓内钉插入髓腔之后,通过光纤传感解调仪获取所述髓内钉内光纤的弯曲信息,并根据所述弯曲信息得到所述远端锁定孔的运动矩阵;根据所述初始位置和所述运动矩阵,获取所述髓内钉插入髓腔后的远端锁定孔在所述光纤全局坐标系中的目标位姿;基于双目相机,通过第一光学标记物和第二光学标记物,将所述目标位姿和导向器位姿转换到双目相机坐标系,得到所述髓内钉插入髓腔后远端锁定孔与导向器的相对空间定位;所述导向器位姿是通过所述双目相机对所述第二光学标记物进行跟踪得到的,所述第一光学标记物设置在所述髓内钉的近端处,所述第二光学标记物设置在所述导向器的表面。On the other hand, the present invention also provides a computer program product, the computer program product includes a computer program stored on a non-transitory computer-readable storage medium, the computer program includes program instructions, and when the program instructions are executed by a computer During execution, the computer can execute the spatial positioning method for the locking hole at the distal end of the intramedullary nail provided by the above methods, the method includes: before the intramedullary nail is inserted into the medullary cavity, obtaining the locking hole at the distal end of the intramedullary nail The initial position in the optical fiber global coordinate system, which is determined based on the proximal end of the intramedullary nail; after the intramedullary nail is inserted into the medullary cavity, the optical fiber sensor demodulator is used to obtain the The bending information of the optical fiber in the intramedullary nail, and obtain the motion matrix of the distal locking hole according to the bending information; according to the initial position and the motion matrix, obtain the distal end of the intramedullary nail inserted into the medullary cavity Lock the target pose of the hole in the optical fiber global coordinate system; based on the binocular camera, through the first optical marker and the second optical marker, convert the target pose and the guider pose to the binocular camera coordinates After the intramedullary nail is inserted into the medullary cavity, the relative spatial positioning of the distal locking hole and the guide is obtained; the pose of the guide is obtained by tracking the second optical marker through the binocular camera, The first optical marker is disposed at the proximal end of the intramedullary nail, and the second optical marker is disposed on the surface of the guide.
又一方面,本发明还提供一种非暂态计算机可读存储介质,其上存储有计算机程序,该计算机程序被处理器执行时实现以执行上述各实施例提供的用于髓内钉远端锁定孔的空间定位方法,该方法包括:在髓内钉插入髓腔之前,获取所述髓内钉的远端锁定孔在光纤全局坐标系中的初始位置,所述光纤全局坐标系是基于所述髓内钉的近端确定的;在所述髓内钉插入髓腔之后,通过光纤传感解调仪获取所述髓内钉内光纤的弯曲信息,并根据所述弯曲信息得到所述远端锁定孔的运动矩阵;根据所述初始位置和所述运动矩阵,获取所述髓内钉插入髓腔后的远端锁定孔在所述光纤全局坐标系中的目标位姿;基于双目相机,通过第一光学标记物和第二光学标记物,将所述目标位姿和导向器位姿转换到双目相机坐标系,得到所述髓内钉插入髓腔后远端锁定孔与导向器的相对空间定位;所述导向器位姿是通过所述双目相机对所述第二光学标记物进行跟踪得到的,所述第一光学标记物设置在所述髓内钉的近端处,所述第二光学标记物设置在所述导向器的表面。In another aspect, the present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it is implemented to execute the methods for the distal end of the intramedullary nail provided by the above-mentioned embodiments. A spatial positioning method for a locking hole, the method includes: before the intramedullary nail is inserted into the medullary cavity, obtaining the initial position of the distal locking hole of the intramedullary nail in the optical fiber global coordinate system, the optical fiber global coordinate system is based on the The proximal end of the intramedullary nail is determined; after the intramedullary nail is inserted into the medullary cavity, the bending information of the optical fiber in the intramedullary nail is obtained through the optical fiber sensor demodulator, and the far end is obtained according to the bending information. The motion matrix of the end locking hole; according to the initial position and the motion matrix, obtain the target pose of the distal locking hole in the optical fiber global coordinate system after the intramedullary nail is inserted into the medullary cavity; based on the binocular camera , through the first optical marker and the second optical marker, the target pose and the guide pose are converted to the binocular camera coordinate system, and the distal locking hole and the guide are obtained after the intramedullary nail is inserted into the medullary cavity relative spatial positioning; the guide pose is obtained by tracking the second optical marker through the binocular camera, the first optical marker is set at the proximal end of the intramedullary nail, The second optical marker is disposed on the surface of the guide.
以上所描述的装置实施例仅仅是示意性的,其中所述作为分离部件说明的单元可以是或者也可以不是物理上分开的,作为单元显示的部件可以是或者也可以不是物理单元,即可以位于一个地方,或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部模块来实现本实施例方案的目的。本领域普通技术人员在不付出创造性的劳动的情况下,即可以理解并实施。The device embodiments described above are only illustrative, and the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in One place, or it can be distributed to multiple network elements. Part or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. It can be understood and implemented by those skilled in the art without any creative effort.
通过以上的实施方式的描述,本领域的技术人员可以清楚地了解到各实施方式可借助软件加必需的通用硬件平台的方式来实现,当然也可以通过硬件。基于这样的理解,上述技术方案本质上或者说对现有技术做出贡献的部分可以以软件产品的形式体现出来,该计算机软件产品可以存储在计算机可读存储介质中,如ROM/RAM、磁碟、光盘等,包括若干指令用以使得一台计算机设备(可以是个人计算机,服务器,或者网络设备等)执行各个实施例或者实施例的某些部分所述的方法。Through the above description of the implementations, those skilled in the art can clearly understand that each implementation can be implemented by means of software plus a necessary general hardware platform, and of course also by hardware. Based on this understanding, the essence of the above technical solution or the part that contributes to the prior art can be embodied in the form of software products, and the computer software products can be stored in computer-readable storage media, such as ROM/RAM, magnetic discs, optical discs, etc., including several instructions to make a computer device (which may be a personal computer, server, or network device, etc.) execute the methods described in various embodiments or some parts of the embodiments.
最后应说明的是:以上实施例仅用以说明本发明的技术方案,而非对其限制;尽管参照前述实施例对本发明进行了详细的说明,本领域的普通技术人员应当理解:其依然可以对前述各实施例所记载的技术方案进行修改,或者对其中部分技术特征进行等同替换;而这些修改或者替换,并不使相应技术方案的本质脱离本发明各实施例技术方案的精神和范围。Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it can still be Modifications are made to the technical solutions described in the foregoing embodiments, or equivalent replacements are made to some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention.
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